Abstract

The aim of this work is to provide a method for dynamics and trajectory control simulation for underwater vehicle motions which is based on quasi-velocity decomposition of the inertia matrix. In terms of the transformed equations of motion a tracking control algorithm (containing an adaptive term) for an underwater vehicle is given. In the algorithm dynamics of the vehicle is included into the control gains. Next some properties of the system dynamics observable after transformation of the velocity vector expressed in the earth-fixed frame are shown (they are inaccessible without decomposition of the matrix of inertia). The controller performance is compared with performance of the algorithm in which the dynamics in the gains is absent. Such approach enables one an insight into the dynamics of the vehicle together with the controller. The simulation method is applicable for fully actuated marine vehicles and serves both for control and vehicle dynamics study. The case study done on a 6 DOFs underwater vehicle illustrates usefulness of the investigation strategy.

摘要

本工作的目的是提供一种基于惯性矩阵准速度分解的水下航行器运动动力学和轨迹控制仿真方法。根据变换的运动方程，给出了水下航行器的跟踪控制算法（包含自适应项）。在算法中，车辆的动力学被包括在控制增益中。接下来显示了在地球固定坐标系中表示的速度矢量变换后可观察到的系统动力学的一些性质（如果不分解惯性矩阵，它们是不可访问的）。将控制器性能与没有增益动态的算法性能进行比较。这种方法使人们能够与控制器一起深入了解车辆的动态。该仿真方法适用于全驱动船舶，可用于控制和车辆动力学研究。对 6 自由度水下航行器进行的案例研究说明了调查策略的有用性。